abstract: Situations of sensory overload are steadily becoming more frequent as the ubiquity of technology approaches reality--particularly with the advent of socio-communicative smartphone applications, and pervasive, high speed wireless networks. Although the ease of accessing information has improved our communication effectiveness and efficiency, our visual and auditory modalities--those modalities that today's computerized devices and displays largely engage--have become overloaded, creating possibilities for distractions, delays and high cognitive load; which in turn can lead to a loss of situational awareness, increasing chances for life threatening situations such as texting while driving. Surprisingly, alternative modalities for information delivery have seen little exploration. Touch, in particular, is a promising candidate given that it is our largest sensory organ with impressive spatial and temporal acuity. Although some approaches have been proposed for touch-based information delivery, they are not without limitations including high learning curves, limited applicability and/or limited expression. This is largely due to the lack of a versatile, comprehensive design theory--specifically, a theory that addresses the design of touch-based building blocks for expandable, efficient, rich and robust touch languages that are easy to learn and use. Moreover, beyond design, there is a lack of implementation and evaluation theories for such languages. To overcome these limitations, a unified, theoretical framework, inspired by natural, spoken language, is proposed called Somatic ABC's for Articulating (designing), Building (developing) and Confirming (evaluating) touch-based languages. To evaluate the usefulness of Somatic ABC's, its design, implementation and evaluation theories were applied to create communication languages for two very unique application areas: audio described movies and motor learning. These applications were chosen as they presented opportunities for complementing communication by offloading information, typically conveyed visually and/or aurally, to the skin. For both studies, it was found that Somatic ABC's aided the design, development and evaluation of rich somatic languages with distinct and natural communication units. / Dissertation/Thesis / Ph.D. Computer Science 2012

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Atenciosamente, Biblioteca Campus Rio Claro Repositório Institucional UNESP https://repositorio.unesp.br on 2018-11-14T16:23:25Z (GMT) / Submitted by Fernanda Lopes Magre (fe.magre@yahoo.com.br) on 2018-11-14T17:15:16Z No. of bitstreams: 1 REPOSITÓRIO FERNANDA LOPES MAGRE.pdf: 1903981 bytes, checksum: 84551fa2723407938a7c991dffabf379 (MD5) / Approved for entry into archive by Adriana Aparecida Puerta null (dripuerta@rc.unesp.br) on 2018-11-14T17:28:17Z (GMT) No. of bitstreams: 1 magre_fl_me_rcla.pdf: 1903981 bytes, checksum: 84551fa2723407938a7c991dffabf379 (MD5) / Made available in DSpace on 2018-11-14T17:28:17Z (GMT). No. of bitstreams: 1 magre_fl_me_rcla.pdf: 1903981 bytes, checksum: 84551fa2723407938a7c991dffabf379 (MD5) Previous issue date: 2018-09-18 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Os sistemas sensoriais e motor trabalham de forma integrada para restabelecer o equilíbrio corporal durante a realização de outras tarefas (e.g., carregar uma bandeja com copos, trocar uma lâmpada enquanto equilibramos numa escada, etc.), as quais identificamos como “supra-posturais”. Ainda, indivíduos usam a percepção háptica para incorporar ferramentas na realização dessas tarefas que podem, concomitantemente, auxiliar no controle da postura. Uma ferramenta identificada como útil ao controle postural é o sistema âncora que consiste numa tarefa de manipular sutilmente cabos flexíveis anexos a cargas de reduzida massa que ficam em contato com o solo. Segurando a ponta desses cabos com as mãos, os indivíduos, via exploração ativa do sistema háptico, ajustam seu corpo no espaço mais eficientemente do que sem esta ferramenta. O objetivo desse estudo é analisar em tarefa de ancoragem háptica como componentes de tarefa supra-postural (i.e., deslocar o sistema âncora ritmicamente para cima e para baixo; com e sem contato com o solo e com e sem presença de cargas anexas ao sistema âncora) afetam os níveis de oscilação corporal em tarefas de equilíbrio. Participaram do estudo 15 adultos jovens que realizaram duas sessões de coleta em dias distintos (sessão de ancoragem com cargas e sessão de ancoragem sem cargas). Os participantes ficaram em pé sobre uma plataforma de força com os pés na posição tandem, vendados, durante 30 segundos, e, ao som de um metrônomo (55 BPM), levantaram e abaixaram ritmicamente o sistema âncora (i.e., com cargas anexas) ou cabos de nylon livres (i.e., sem cargas anexas) de acordo com as seguintes condições: ancoragem estática, ancoragem dinâmica em fase, ancoragem dinâmica fora de fase e ancoragem mista. As mesmas condições foram realizadas nas duas sessões de ancoragem. Para cada condição foram realizadas 2 tentativas. As variáveis do centro de pressão (COP) incluíram o comprimento total do COP (CT-COP), RMS do deslocamento médio-lateral (RMS-ml), velocidade média de oscilação médio-lateral (Velocidade-ml) e frequência com 80% da potência espectral na direção médio-lateral (F80-ml). Os resultados revelaram que um sistema de ancoragem sem cargas não promove efeitos estabilizadores na postura, o que não o caracteriza como uma tarefa predominantemente supra-postural. Ainda, manter as cargas em suspensão durante uma tarefa de ancoragem não promove efeitos estabilizadores na postura tal como ocorre ao manter as cargas em contato com o solo. Por fim, ancorar-se com cargas estáticas no solo promove efeitos estabilizadores para a postura melhores do que ancorar-se com cargas de forma dinâmica. Esses resultados demonstram a influência da informação sensorial para controlar a postura em um sistema de ancoragem háptica, que depende de uma referência fixa para orientação postural (i.e., cargas das âncoras em contato com uma superfície). / The sensory and motor systems work in an integrated way to reestablish balance while performing other motor tasks (e.g., carry a tray with cups, changing a light bulb while balancing on a ladder, etc.), which we identify as “supra-postural.” Moreover, individuals use haptic perception to control tools while performing these tasks that can, at the same time, aid the postural control system. A tool identified as useful to the postural function is the anchor system, which consists in subtle manipulation of flexible cables attached to low mass loads that are kept in contact with the ground. Holding these cables with their hands, individuals, via active exploration, adjust their bodies in space more efficiently than without this tool. The purpose of this study is to analyze in haptic anchorage tasks how does supra-postural components (e.g., intentionally move rhythmically the anchor system up and down; with or without anchor masses touching the ground, and with or without the end loads attached to the anchor system) affect body sway during balancing tasks. Fifteen young adults participated in this study in two sessions of data collection separated in two different days (anchors with loads and free-load anchors). The participants stood on a force platform with their feet in tandem position, blindfolded, for 30 seconds. To the sound of a metronome (55 BPM), they moved anchor system or the nylon strings (e.g., without the attached loads) up and down according to the following conditions: quiet anchoring, in-phase and out-of-phase dynamic anchoring, and mixed anchoring (e.g., one hand quiet anchoring while the other keep a dynamic anchoring). The variables of the center of pressure (COP) included the COP’s path length (PL-COP), ellipse area, RMS of medial-lateral displacement (RMS-ml), mean speed of medial-lateral oscillation (MSS-ml) and the frequency at 80% of the power spectrum (F80-ml). Our results revealed that an unloaded anchorage system does not provide stabilizing effects for the posture system and is not characterized as a supra-postural task, contrary to the anchor system with loads. Also, keeping the loads in suspension during an anchoring task does not stabilize posture as much as when keeping the loads in contact with the ground. Finally, anchoring with steady loads on the ground promotes stabilizing effects of the posture compared to dynamic anchoring with loads moving rhythmically. These results illustrate that sensory information to control posture during haptic anchoring tasks rely on a fixed reference for postural orientation (i.e., anchor loads in contact with a surface).

Ce projet de thèse de doctorat traite du retour sensoriel du toucher dans des environnements virtuels. La partie théorique s’intéresse aux différents schémas de perception du toucher et aux modalités haptiques correspondantes. Nous nous sommes particulièrement concentrés sur la pertinence de chaque modalité pour chaque usage, à leur compatibilité avec les systèmes visuels qui ont une place très importante en réalité virtuelle, ainsi qu’aux problématiques inhérentes à chaque cas. Ces réflexions nous ont amenés à évaluer les méthodes d’haptique passive et de substitution sensorielle dans le cadre d’interactions dans des CAVEs. Les résultats mettent en lumière l’importance du choix de la modalité en parallèle avec la construction du scénario, mais aussi les difficultés à colocaliser les moteurs haptiques et visuels. Les interactions peuvent souffrir de performances insuffisantes si des précautions ne sont pas prises. Enfin, nous avons testé quelques méthodes logicielles visant à améliorer les performances des sujets lorsqu’ils interagissent. / This thesis tackles the subject of the feedbacks of interactions in virtual environments. The theoretical part addresses the different perception schemes and the corresponding haptic modalities. We especially focused on the relevance of each modality for each use-case, on the compatibility with the visual systems which take an important place in virtual reality, and on the problematics of each situation. These studies led us to evaluate passive haptics and sensory substitution for interactions in CAVEs. The results show the importance of choosing the right modality relative to the scenario design. We also evaluated how mismatched the visual and haptic workfield can be, and how the performance of interactions suffers from this fact. Ultimately, we tested a few software-based methods meant to improve the performance of the interactions of the subjects.

L’objectif de cette recherche est de découvrir comment se développe l’image du corps et la relation d’objet, et ainsi l’élaboration du moi, des personnes aveugles de naissance.La problématique : deux approches de la cécité se confrontent. Une approche pessimiste faisant de la vision l’essentiel du savoir, liant le handicap physique au handicap sensoriel ; Une vision modérée, donnant du crédit à la perception haptique. Qu’en est-il de l’image du corps et de la relation d’objet ? Partant des conceptions de Lederman, Anzieu et Tisseron, nous avons conçu l’idée du Regard-peau. L’hypothèse : Le Regard-peau, permettrait à partir du perçu multimodal - une reconnaissance de l’image du corps et de l’objet ; - et un accès à la métaphore du désir en tant que relation à l’objet et à son interdit.La méthode : Pour arriver à confirmer ou infirmer cette hypothèse nous avons eu recours, aux acquis théoriques de la psychanalyse du développement, et sur le plan méthodique, à l’entretien semi directif, enfin à la création d’une situation expérimentale observable que nous avons créée étant donné qu’aucune expérimentation visuelle n’était possible. La population étudiée comprend 20 aveugles-nés âgés de 18 à 21 ans, qui nous a permis de comprendre l’état de cécité, et 3 jeunes hommes non-voyants de naissance, qui ont fait l’objet d’une étude de cas. / AThe objective of this research is to discover how the image of the body and object relation develop, furthermore, the ego development of congenitally blind people. Problematic: two approaches of blindness have been in confrontation. A pessimistic approach making vision the essential of knowledge, linking physical disability and sensory disability; A moderate vision, giving credit to haptic perception. What then about the body image and object relation? Starting with Lederman concepts, Anzieu and Tisseron, we onceived the idea of the gaze - skin. Hypothesis: The gaze - skin would allow, from the multimodal perception a recognition of the body image and the object; - and an access to the metaphor of desire as a relation to the desired object and its prohibition. Method: To get to confirm or disprove this hypothesis we used, the theoretical knowledge of developmental psychoanalysis, and methodologically, the semi-directive interview, and finally the creation of an observable experimental situation that we created because no visual experimentation was possible. The studied population included 20 congenitally blind people aged 18 to 21 years, which has enabled us to understand the state of blindness, and three young men blind from birth, who have been the subject of a case study, and were excluded those who became blind after a period of vision.

Affective haptic research is a rapidly growing field. Today, more smart haptic clothes are being studied and implemented which are aimed to effect its users emotionally. However, they have some limitations. This research intends to improve the existing literature and contribute by involving consumers directly in the design of a smart haptic jacket by adding heat, vibration actuators, and by enhancing portability. In this thesis, we are interested in six basic emotions: love, joy, surprise, anger, sadness, and fear. An online survey was designed and conducted on 92 respondents that gave feedback of what it is expected from an affective haptic jacket. The results of this survey assisted in the general design, and the feedback helped to build a prototype. 86% of the respondents expressed interest in the system and are willing to try it when it is ready. A detailed design architecture is provided along with details on the hardware and software used for the implementation. Finally, the prototype was evaluated on 14 participants using the actual prototype haptic jacket based on a QoE comparison between the absence and the presence of haptic actuation. The proposed system showed improvement over a similar system that is designed for the same purpose.

This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback.This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.

One longstanding challenge in the field of robotics has been the robust and reliable grasping of objects of unknown shape. Part of that challenge lies in reconstructing the object’s shape using only limited observations. Most approaches use either visual or tactile information to reconstruct the shape, having to face issues resulting from the limitations of the chosen modality. This thesis tries to combine the strengths of visual and tactile observations by taking the result from an existing visual approach and refining that result through sparse tactile glances. The existing approach produces potential shape hypotheses in voxel space which get combined into one final shape. This thesis takes that final shape and determines voxels of interest using either entropy or variance. These voxels will be targeted by the exploration, providing information about these voxels. This information will be used to assign weights to the original hypotheses in order for the combined shape to better fit the observations. All explorations are simulated and evaluated in MATLAB. The resulting shapes are evaluated based on their Jaccard Index with the ground truth model. The algorithm leads to improvements in the Jaccard Index, but not to drastically different looking shapes.

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